The existed self - calibration algorithms based on translation motion have the limit in constraining the translation too strictly and can not get the external parameters 已有的基于纯平移运动的自标定算法对摄像机运动约束过多，且没有标定外参数。
2.
The motion models and the corresponding motion equations for pure rotation and pure translation are established respectively . several algorithms are proposed for calculating the pure rotational motion parameters and the pure translation motion ones using correspondence of conic curves respectively 建立了刚体纯旋转运动和纯平移运动模型及其相应的运动方程，提出了计算刚体纯旋转运动和纯平移运动参数的相应算法。
3.
Based on this algorithm a self - calibration approach taking account of camera two - degree radial distortion is proposed . the five intrinsic parameters and two - degree radial distortion coefficients can be calibrated by controlling the camera to undergo more than 4 translation motion which are not co - planar 在此基础上还提出了一种考虑二阶径向畸变的非线性自标定算法，通过控制摄像机作四次不共面的纯平移运动，可以标定摄像机的五个内参数和两个径向畸变系数。
